Altivar 61-71 CANopen

1755

865

www.schneider-electric.com

Altivar 61 / 71CANopen®

User's manual

11/2010

1755865 11/2010 3

Contents

Before you begin_____________________________________________________________________________________________ 4

Documentation structure_______________________________________________________________________________________ 5

Introduction_________________________________________________________________________________________________ 6Presentation _____________________________________________________________________________________________ 6Notation ________________________________________________________________________________________________ 6

Hardware setup _____________________________________________________________________________________________ 7Installing the CANopen adapter ______________________________________________________________________________ 7Connecting to the CANopen bus _____________________________________________________________________________ 8

Configuration ______________________________________________________________________________________________ 10Configuring the communication parameters____________________________________________________________________ 10Control-signal configuration ________________________________________________________________________________ 11Configuring monitored parameters ___________________________________________________________________________ 14Configuring communication fault management _________________________________________________________________ 15

Diagnostics ________________________________________________________________________________________________ 16LEDs__________________________________________________________________________________________________ 16Communication diagnostics ________________________________________________________________________________ 17Control-signal diagnostics__________________________________________________________________________________ 19Communication faults _____________________________________________________________________________________ 21

Software setup _____________________________________________________________________________________________ 22Profiles ________________________________________________________________________________________________ 22PDO (Process Data Objects) _______________________________________________________________________________ 23SDO (Service Data Objects)________________________________________________________________________________ 26Other available services ___________________________________________________________________________________ 26Description of identifiers taken into account ____________________________________________________________________ 27

Software setup with PL7 and SyCon ____________________________________________________________________________ 28

Detailed description of services ________________________________________________________________________________ 40NMT commands _________________________________________________________________________________________ 40CANopen NMT state chart _________________________________________________________________________________ 41Bootup service __________________________________________________________________________________________ 43Synchronization object - SYNC _____________________________________________________________________________ 43Emergency object - EMCY _________________________________________________________________________________ 43PDO1 _________________________________________________________________________________________________ 44PDO2 _________________________________________________________________________________________________ 48PDO3 _________________________________________________________________________________________________ 49SDO service ____________________________________________________________________________________________ 50Node Guarding service____________________________________________________________________________________ 53Heartbeat service ________________________________________________________________________________________ 55

Object dictionary____________________________________________________________________________________________ 56Communication profile zone objects__________________________________________________________________________ 57

While every precaution has been taken in the preparation of this document,Schneider Electric SA assumes no liability for any omissions or errors it may contain,nor for any damages resulting from the application or use of the information herein.

The products and options described in this document may be changed or modified atany time, either from a technical point of view or in the way they are operated. Theirdescription can in no way be considered contractual.

Before you begin

Read and understand these instructions before performing any procedure with this drive.

DANGERHAZARDOUS VOLTAGE

• Read and understand this manual before installing or operating the Altivar drive. Installation, adjustment, repair, and maintenance must be performed by qualified personnel.

• The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment.

• Many parts in this variable speed drive, including printed wiring boards, operate at line voltage. DO NOT TOUCH. Use only electrically insulated tools.

• DO NOT touch unshielded components or terminal strip screw connections with voltage present.

• DO NOT short across terminals PA and PC or across the DC bus capacitors.

• Install and close all covers before applying power or starting and stopping the drive.

• Before servicing the variable speed drive:- Disconnect all power- Place a "DO NOT TURN ON" label on the variable speed drive disconnect- Lock the disconnect in the open position

• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15 MINUTES for the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given in the Installation Manual to verify that the DC voltage is less than 45 Vdc. The drive LEDs are not accurate indicators of the absence of DC bus voltage.

Electric shock will result in death or serious injury

CAUTIONDAMAGED EQUIPMENTDo not operate or install any drive that appears damaged.Failure to follow this instruction can result in equipment damage.

4 1755865 11/2010

Documentation structure

Installation manualThis manual describes:• How to assemble the drive• How to connect the drive

Programming manualThis manual describes:• The functions• The parameters• How to use the drive display terminal (integrated display terminal and graphic display terminal)

Communication parameters manualThis manual describes:• The drive parameters with specific information for use via a bus or communication network• The operating modes specific to communication (state chart)• The interaction between communication and local control

Modbus, CANopen®, Ethernet™, Profibus, INTERBUS, Uni-Telway, FIPIO, Modbus Plus, DeviceNet™ ... manualsThese manuals describe:• Connection to the bus or network• Diagnostics• Configuration of the communication-specific parameters via the integrated display terminal or the graphic display terminalThey describe the protocol communication services in detail.

Altivar 58/58F migration manualThis manual describes the differences between the Altivar 71 and the Altivar 58/58F.It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.

Altivar 38 migration manualThis manual describes the differences between the Altivar 61 and the Altivar 38.It explains how to replace an Altivar 38, including how to replace drives communicating on a bus or network.

1755865 11/2010 5

Introduction

PresentationThe CANopen protocol is available on the Altivar speed drive via a VW3 CAN A71 adapter, which must be ordered separately.

The CANopen adapter features a CANopen-compliant 9-way male SUB-D connector referred to as the “CANopen port” in this manual.

The CANopen port on the Altivar can be used for the following functions:• Configuration• Adjustment• Control• Monitoring

This manual describes how to set up the Altivar drive on CANopen and also describes the CANopen services that are available on this drive.

NotationDrive terminal displaysThe graphic display terminal menus are shown in square brackets.Example: [1.9 COMMUNICATION].

The integrated 7-segment display terminal menus are shown in round brackets.Example: (COM-).

Parameter names are displayed on the graphic display terminal in square brackets.Example: [Fallback speed]

Parameter codes are displayed on the integrated 7-segment display terminal in round brackets.Example: (LFF).

FormatsIn this manual, hexadecimal values are written as follows: 16#.

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Hardware setup

Installing the CANopen adapterInstall the VW3 CAN A71 CANopen adapter in the RJ45 port located on the drive's control terminals.

Note: This adapter MUST be screwed to the drive via its CANopen bus metal grounding plate.

Modbus network port pinout

(1)Modbus signal(2)Power supply for an RS232/RS485 converter (to PC-Software)

View from underneathPin Signal

1 CAN_H2 CAN_L3 CAN_GND4 D1 (1)5 D0 (1)6 Not connected7 VP (2)8 Common (1)

Modbus terminal port (HMI)

Example: ATV71HU22M3

VW3 CAN A71CANopen

adapter

Modbus network port

8........................1

CAN _H -7-

Pinout of 9-way male SUB-D connector onCANopen adapter

CAN_L -2- CAN_GND -3-

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Hardware setup

Connecting to the CANopen busThe diagram below illustrates an example configuration comprising four Altivar drives connected to a TSX Premium master PLC fitted witha TSX CPP 110 CANopen master PCMCIA card.Connection accessories should be ordered separately (please consult our catalogs). See also below.

(1)For ATV 71H•••M3, ATV 71HD11M3X, HD15M3X and ATV 71H075N4 to HD18N4 drives, this connector can be replaced by theTSX CAN KCDF 180T connector.

Length of CANopen busThe maximum length of the bus depends on the communication speed:

These lengths are for a CANopen bus and take into account actual dispersions on the components as well as when certain devices areoptocoupled to the bus.Schneider-Electric will not accept liability for longer lengths specified in other documents.

1. TSX Premium PLC + TSX CPP 110 CANopen master PCMCIA card

2. Drop cable and cable connector supplied with TSX CPP 110 card

3. TSX CAN KCDF 180T 9-way female SUB-D connector with active line terminator

4. TSX CAN C••• CANopen cable, available in lengths of 50, 100 or 300 m

5. VW3 CAN A71 CANopen adapter + VW3 CAN KCDF 180T 9-way female SUB-D connector with deactivated line terminator

6. VW3 CAN A71 CANopen adapter + VW3 CAN KCDF 180T 9-way female SUB-D connector with active line terminator

Description Length (m) Catalog number

CANopen adapter to be installedin the RJ45 port on the drive's control terminals.The adapter provides a 9-way male SUB-D connector conforming to the CANopen standard (CIA DRP 303-1).

– VW3 CAN A71

CANopen connector (1)9-way female SUB-D connector with line terminator (can be deactivated)

– VW3 CAN KCDF 180T

CANopen cables LSZHCE certification. Low smoke, halogen free and flame retardant (IEC 60332-1).

50 TSX CAN CA 50

100 TSX CAN CA 100

300 TSX CAN CA 300

CANopen cables UL / IEC 60332-2UL certification. Non flame propagating (IEC 60332-2).

50 TSX CAN CB 50

100 TSX CAN CB 100

300 TSX CAN CB 300

CANopen cables flexible LSZH HDFor heavy duty or mobile applications. Low smoke, halogen free and flame retardant (IEC 60332-1). Oil resistant.

50 TSX CAN CD 50

100 TSX CAN CD 100

300 TSX CAN CD 300

Communication speed 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 1000 kbps

Maximum length of bus 2500 m 1000 m 500 m 250 m 100 m 25 m

2

3

54

1

5 5 6CANopen

TSX CPP 110

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Hardware setup

CANopen connector (VW3 CAN KCDF 180T)

How to strip the CANopen cable

Schematic

X1 = Internal screw terminalX2 = 9-way female SUB-D

X1 = Internal screw terminal X2 = 9-way female SUB-D Signal

1, 6 3 CAN_GND

2, 4 2 CAN_L

3, 5 7 CAN_H

7 510max.

1

2

3

4

5

6

1

2

3

4

5

6

7

8

9

CAN-GND

CAN-L

CAN-H

CAN-L

CAN-H

CAN-GND

R1

S1

X1 X2

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Configuration

Configuring the communication parametersThe configuration of the CANopen communication functions on the Altivar is accessed via the [1.9 - COMMUNICATION] (COM-), menu ([CANopen] (CnO-) submenu) on the graphic display terminal or integrated display terminal.

Note:The configuration can only be modified when the motor is stopped and the drive locked.In order for modifications to take effect, the drive must be shut down then restarted.

In this user’s manual, the [CANopen address] (AdC0) parameter is referred to as the "NODE-ID".

Set this parameter to its default value, (0FF), to deactivate CANopen communication on the Altivar.To activate CANopen communication on the Altivar, write a value other than zero to the [CANopen address] (AdC0) parameter.

The value of the [CANopen bit rate] (bdC0) parameter must correspond to the communication speed of all other devices connected to theCANopen bus.

(1)Do not select [20 kbps] (20), possible malfunction.

Parameter Possible values Terminal display Default value

[CANopen address] (AdCO) CANopen deactivated1 to 127

[OFF] (0FF) [1] (1)....[127] (127)

[OFF] (0FF)

[CANopen bit rate] (bdCO) 0 0- [20 kbps] (20) (1)

[125 kbps] (125)

0 050 kbps [50 kbps] (50)

0 125 kbps [125 kbps] (125)

0 250 kbps [250 kbps] (250)

0 500 kbps [500 kbps] (500)

1 000 kbps [1000 kbps] (1M)

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Configuration

Control-signal configurationNumerous control-signal configurations are possible. Please consult the Programming Manual.The following configurations are just some of the possibilities available.

Control via CANopen in I/O profileThe command and target come from CANopen.The command is in I/O profile.

Configure the following parameters:

Configuration via the graphic display terminal or the integrated display terminal:

Control via CANopen or the terminals in I/O profileBoth the command and target come from CANopen or the terminals. Input LI5 at the terminals is used to switch between CANopen and theterminals.The command is in I/O profile.


Target 1B is connected to the functions (summing, PID, etc.) that remain active, even after switching.


Parameter Value Comment

Profile I/O profile The run command is simply obtained by bit 0 of the control word.

Target 1 configuration CANopen The target comes from CANopen.

Command 1 configuration CANopen The command comes from CANopen.

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

[Ref. 1 channel] (Fr1) [CANopen] (CAn)

[Cmd channel 1] (Cd1) [CANopen] (CAn)


Profile I/O profile The run command is simply obtained via bit 0 of the control word.

Target 1 configuration CANopen Target 1 comes from CANopen.

Target 1B configuration Analog input 1 on the terminals Target 1B comes from input AI1 on the terminals.

Target switching Input LI5 Input LI5 switches the target (1 ↔ 1B).

Command 1 configuration CANopen Command 1 comes from CANopen.

Command 2 configuration Terminals Command 2 comes from the terminals.

Command switching Input LI5 Input LI5 switches the command.


[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)



[Cmd channel 2] (Cd2) [Terminals] (tEr)

[Cmd switching] (CCS) [LI5] (LI5)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

[Ref. 1B chan] (Fr1b) [AI1] (AI1)

[Ref 1B switching] (rCb) [LI5] (LI5)

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Configuration

Control via CANopen in DSP402 profile

The command and target come from CANopen.The command is in DSP402 profile (not separate mode).



Control via CANopen or the terminals in DSP402 profile

Both the command and target come from CANopen or the terminals. Input LI5 at the terminals is used to switch between CANopen and theterminals.The command is in DSP402 profile (not separate mode).


Warning: Target 2 is directly connected to the drive reference limit. If switching is performed, the functions that affect the reference(summing, PID, etc) are inhibited.



Profile DSP402 profile not separate The run commands are in DSP402 profile, the command and the target come from the same channel.

Target 1 configuration CANopen The command and the target come from CANopen.


[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Not separ.] (SIM) (factory setting)



Profile DSP402 profile not separate The run commands are in DSP402 profile, the command and the target come from the same channel.


Target 2 configuration Analog input 1 on the terminals Target 2 comes from input AI1 on the terminals.

Target switching Input LI5 Input LI5 switches the target (1 ↔ 2) and the command.


[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Not separ.] (SIM)


[Ref. 2 channel] (Fr2) [AI1] (AI1)

[Ref. 2 switching] (rFC) [LI5] (LI5)

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Configuration

Command in DSP402 profile via CANopen and target switching at the terminals

The command comes from CANopen.The command comes either from CANopen or from the terminals. Input LI5 at the terminals is used to switch the target between CANopenand the terminals.The command is in DSP402 profile (separate mode).


Target 1B is connected to the functions (summing, PID, etc.), which remain active, even after switching.



Profile Separate DSP402 profile The run commands are in DSP402 profile, the command and the target can come from different channels.


Target 1B configuration Analog input 1 on the terminals Target 1B comes from input AI1 on the terminals.

Target switching Input LI5 Input LI5 switches the target (1 ↔ 1B).

Command 1 configuration CANopen Command 1 comes from CANopen.

Command switching Channel 1 Channel 1 is the command channel.


[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)



[Cmd switching] (CCS) [ch1 active] (Cd1)

[1.7 APPLICATION FUNCT.] (FUn-)[REFERENCE SWITCH.]

[Ref. 1B chan] (Fr1b) [AI1] (AI1)

[Ref 1B switching] (rCb) [LI5] (LI5)

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Configuration

Configuring monitored parametersIt is possible to select up to 4 parameters to display their values in the [1.2 - MONITORING] menu on the graphic display terminal.

The selection is made via the [6 - MONITORING CONFIG.] menu ([6.3 - COM. MAP CONFIG.] submenu).

One of the three display formats below can be assigned to each monitored word:

Note: If a monitored parameter:- has been assigned to an unknown address- has been assigned to a protected parameter- has not been assigned

the value displayed in the [COMMUNICATION MAP] screen is: "-----" (see "Diagnostics" section).

Each parameter in the range [Address 1 select] ... [Address 4 select] can beused to select the parameter logic address. An address at zero is used todisable the function.

In the example given here, the monitored words are:

• Parameter 1 = Motor current (LCR): logic address 3204, signed decimal format.

• Parameter 2 = Motor torque (OTR): logic address 3205, signed decimal format.

• Parameter 3 = Last fault occurred (LFT): logic address 7121, hexadecimal format.

• Disabled parameter: 0; default format: Hexadecimal format

RDY CAN +0.00Hz 0A

6.3 COM. MAP CONFIG.

Address 1 select : 3204

FORMAT 1 : Signed


FORMAT 2 : Signed


Code Quick

FORMAT 3 : Hex


FORMAT 4 : Hex

Format Range Terminal display

Hexadecimal 0000 ... FFFF [Hex]

Signed decimal -32 767 ... 32 767 [Signed]

Unsigned decimal 0 ... 65 535 [Unsigned]

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Configuration

Configuring communication fault management

The response of the drive in the event of a CANopen communication fault can be configured.

The values of the [CANopen fault mgt] (COL) parameter, which trigger a drive fault [CANopen com.] (COF), are:

The values of the [CANopen fault mgt] (COL) parameter, which do not trigger a drive fault, are:

The fallback speed can be configured in the [1.8 – FAULT MANAGEMENT] (FLt-) menu using the [Fallback speed] (LFF) parameter.

It can be configured via the graphic display terminal or the integrated display terminal, from the [1.8 – FAULT MANAGEMENT] (FLt-) menu,[COM. FAULT MANAGEMENT] (CLL-) submenu, via the[CANopen fault mgt] (COL) parameter.

RDY CAN +0.00Hz 0A

COM. FAULT MANAGEMENT

Network fault mgt : Freewheel

CANopen fault mgt : Freewheel

Modbus fault mgt : Freewheel

Code Quick

Value Meaning

[Freewheel] (YES) Freewheel stop (factory setting).

[Ramp stop] (rMP) Stop on ramp.

[Fast stop] (FSt) Fast stop.

[DC injection] (dCI) DC injection stop.

Value Meaning

[Ignore] (nO) Fault ignored.

[Per STT] (Stt) Stop according to configuration of [Type of stop] (Stt).

[fallback spd] (LFF) Change to fallback speed, maintained as long as the fault persists and the run command has not been removed.

[Spd maint.] (rLS) The drive maintains the speed at the time the fault occurred, as long as the fault persists and the run command has not been removed.

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Diagnostics

LEDs

The two LEDs located on the right-hand side of the 7-segment integrated displayterminal indicate the CANopen communication status.

The two LEDs on the left-hand side are reserved for Modbus and are not described inthis manual.

Key:

LED LED state Altivar / CANopen state

RUN

The drive CANopen controller is in the "OFF" state.

The Altivar is in the CANopen "Stopped" state.

The Altivar is in the CANopen "Pre-operational" state.

The Altivar is in the CANopen "Operational" state.

ERR

No error signaled

Warning output by the Altivar CANopen controller(e.g., too many error frames)

ERROR due to the occurrence of a "Node Guarding" or "Heartbeat" event or an "overrun" on the CANopen bus (network overload)

The CANopen controller is in the "OFF" state.

LED state Visual description of the LED state LED state Visual description of the LED state

The LED is onThe LED flashes at 2.5 Hz(on for 200 ms then off for 200 ms)

The LED is in single flash mode(on for 200 ms then off for 1 second)

The LED is off

The LED is in double flash mode(on for 200 ms then off for 200 ms, on for 200 ms then off for 1 second)

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Diagnostics

Communication diagnostics

On the display terminal, the [1.2 - MONITORING] (SUP-) menu ([COMMUNICATION MAP] (CMM-) submenu, [CANopen MAP] submenu) can be used to display the communication status on CANopen.

LED display• [RUN LED] LED ("OFF", "Stopped", "Pre-operational" or "Operational" state of the CANopen controller)• [ERR LED] LED (CANopen error)

These LEDS are equivalent to the "CAN RUN" and "CAN ERR" LEDs on the 7-segment integrated terminal (where supplied together withthe drive).

RUN CAN +50.00Hz 80A

COMMUNICATION MAP

Command Channel : CANopen

Cmd value : 000FHex

Active ref. channel : CANopen

Frequency ref. : 500.0Hz

Status word : 8627Hex

Code Quick

W3204 : 53

W3205 : 725

W7132 : 0000Hex

W0 : -----

COM. SCANNER INPUT MAP

COM SCAN OUTPUT MAP

CMD. WORD IMAGE

FREQ. REF. WORD MAP

MODBUS NETWORK DIAG

MODBUS HMI DIAG

CANopen MAP

PROG. CARD SCANNER

The display on the screen opposite indicates that the CANopen controller isin the "Operational" state ([RUN LED] LED permanently lit) and that thecontroller has not detected any errors present ([ERR LED] not lit).

indicates an LED, which is not lit;

indicates an LED, which is lit.


CANopen MAP

RUN LED :

ERR LED :

PDO1 IMAGE :

PDO2 IMAGE :

PDO3 IMAGE :

Code Quick

Canopen NMT state : Operational

Number of TX PDO : 2438

Number of RX PDO : 2438

Error code 0

RX Error Counter 0

TX Error Counter 0

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Diagnostics

NMT chart displayThe [CANopen NMT state] (NMTS) parameter (logic address 6057, CANopen index/subindex 16#201E/3A) indicates the NMT chart state.The various possible values are [Boot], [Stopped], [Operational] and [Pre-Op] (Pre-operational).

PDO counter display[Number of RX PDO] and [Number of TX PDO] indicate the number of PDOs received and the number of PDOs transmitted by the drive(all PDO sets - PDO1, PDO2 and PDO3 - combined).These counters are modulo 65 536 counters, i.e., the value is reset to zero once 65 535 is reached.

Last CANopen faultThe [Error code] (ErCO) parameter (index/subindex 16#201E/39) indicates the last active CANopen fault and maintains its value until thelast fault has disappeared.

The possible values are listed below:

Counters

The [RX Error Counter] (rEC1) parameter (logic address 6059, CANopen index/subindex 16#201E/3C) counts the number of frames received with errors for all types of frame (PDO, SDO, etc.).

The [TX Error Counter] (tEC1) parameter (logic address 6058, CANopen index 16#201E/3B) counts the number of frames transmitted with errors for all types of frame (PDO, SDO, etc.).These types of error can be caused, for example, by network load problems or the short-circuiting of electrical signals on the bus.

The maximum count value supported by these two counters is 65 535.

PDO value displayA second level of submenus can be accessed via the [CANopen map] submenu: [PDO1 IMAGE], [PDO2 IMAGE] and[PDO3 IMAGE].

Each of these submenus can be used to access a screen displaying the values transmitted and received by each set respectively (PDO1,PDO2 and PDO3).

Display Description

[0] No errors detected since the start of CANopen communication

[1] "Bus Off" requiring the drive to be restarted

[2] "Life Guarding" fault requiring a return to the NMT "Initialization" state

[3] "CAN overrun" error not requiring any specific action to be taken

[4] "Heartbeat" fault requiring a return to the NMT "Initialization" state

[5] NMT state chart fault (see section "CANopen NMT state chart")


PDO3 IMAGE

Received PDO3-1 : 1237


Received PDO3-3 : 0


Transmit PDO3-1 : 231

Code Quick




In each of these screens and for each PDO transmitted or received, only the[Transmit PDO•-•] or [Received PDO•-•] words actually transmitted andreceived on the CANopen bus are displayed.This means, for example, that for a receive PDO2 containing only 4 data bytes(i.e., RP21 and RP22), the fields [Received PDO2-3] and [Received PDO2-4]will not be displayed.

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Diagnostics

Control-signal diagnosticsOn the terminal, the [1.2 - MONITORING] menu ([COMMUNICATION MAP] submenu) can be used to display control-signal diagnosticinformation between the Altivar drive and the CANopen master:

• Active command channel• Value of the control word (CMD) from the active command channel• Active target channel• Value of the target from the active target channel• Value of the status word• Values of the four parameters selected by the user• The [COM. SCANNER INPUT MAP] submenu: is unnecessary for CANopen • The [COM SCAN OUTPUT MAP] submenu: is unnecessary for CANopen • In the [CMD. WORD IMAGE] submenu: control words from all channels• In the [FREQ. REF. WORD MAP] submenu: frequency targets produced by all channels

Example of the display of communication diagnostic information

Control word displayThe [Command Channel] parameter indicates the active command channel.

The [Cmd value] parameter indicates the hexadecimal value of the control word (CMD) used to control the drive.

The [CMD. WORD IMAGE] submenu ([CANopen cmd.] parameter) is used to display the hexadecimal value of the control word sent byCANopen.


COMMUNICATION MAP

Command Channel : CANopen

Cmd value : 000FHex

Active ref. channel : CANopen

Frequency ref. : 500.0Hz

Status word : 8627Hex

Code Quick

W3204 : 73

W3205 : 725

W7132 : 0000Hex

W0 : -----

COM. SCANNER INPUT MAP

COM SCAN OUTPUT MAP

CMD. WORD IMAGE

FREQ. REF. WORD MAP

MODBUS NETWORK DIAG

MODBUS HMI DIAG

CANopen MAP

PROG. CARD SCANNER

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Diagnostics

Frequency target displayThe [Active ref. channel] parameter indicates the active target channel.

The [Frequency ref] parameter indicates the value (in 0.1 Hz units) of the frequency target (LFR) used to control the drive.

The [FREQ. REF. WORD MAP] submenu ([CANopen ref.] parameter) is used to display the value (in 0.1 Hz units) of the speed target sentby CANopen.

Status word displayThe [Status word] parameter gives the value of the status word (ETA).

Display of the parameters selected by the userThe four [W•••] parameters give the value of the four monitored words selected by the user.

The address and display format of these parameters can be configured in the [6 MONITORING CONFIG.] menu ([6.3 - COM. MAPCONFIG.] submenu).

The value of a monitored word equals "-----" if:• Monitoring has not been activated (address equals W0)• The parameter is protected• The parameter is not known (e.g., W3200)

Displaying communication scanner valuesThe communication scanner is unnecessary for CANopen.

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Diagnostics

Communication faultsCANopen communication faults are displayed by the ERR indicator of the integrated display terminal or graphic display terminal.

In factory settings, a CANopen communication fault triggers a resettable drive fault [CANopen com.] (COF) and a freewheel stop.

The response of the drive in the event of a CANopen communication fault can be changed (see "Configuring communication faultmanagement"):

- Drive fault [CANopen com.] (COF) (freewheel stop, stop on ramp, fast stop or DC injection stop).- No drive fault (stop, maintain, fallback).

The fault management is described in the user guide "Communication parameters", chapter "Communication monitoring" :• After initialisation (power up), the drive checks that at least one of the command or target parameters has been written once via

CANopen.• Then, if a CANopen communication fault occurs, the drive reacts according to the configuration (stop, maintain, fallback ...).

The source of this fault is displayed on the terminal: [1.2 - MONITORING] (SUP-) menu, [COMMUNICATION MAP] (CMM-) submenu,[CANopen MAP] submenu, [Error code] (ErCO) parameter (described in the "Communication diagnostics" section).

In the event of a [CANopen com.] (COF) fault, the drive sends an EMCY message to the CANopen master.

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Software setup

ProfilesCommunication profileThe Altivar communication profile is based on:

• CAN 2.A• The CANopen specification (DS301 V4.02)

Simplified telegram structure (communication object):

Identifier: The identifier of a CANopen telegram is coded on 11 bits. The identifier is also called the COB-ID (Communication OBjectIdentifier).

Bits 0 to 6: CANopen address (Node-ID) of the device sending/receiving the telegram

Bits 7 to 10: Telegram function code. The table below lists the function codes used by the Altivar:

(1) These objects are described in the Object dictionary on page 56.

For more detailed information, visit the Can In Automation website at: http://www.can-cia.org.

Functional profileSee the Parameters Manual.

Identifier (11 bits) Data (maximum length 8 bytes)

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Function code(bit 10 … bit 7)

Service Range of possible identifiers Index of parameterization objects (1)

2#0000 NMT 16#000 -

2#0001 SYNC 16#080 16#1005

EMCY 16#081 to 16#0FF -

2#0011 Transmit PDO1 (TPD01) 16#181 to 16#1FF 16#1800, 16#1A00

2#0100 Receive PDO1 (RPD01) 16#201 to 16#27F 16#1400, 16#1600





2#1011 Transmit SDO 16#581 to 16#5FF 16#1200

2#1100 Receive SDO 16#601 to 16#67F 16#1200

2#1110 Heartbeat 16#701 to 16#77F 16#1016, 16#1017

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http://www.can-cia.de

Software setup

PDO (Process Data Objects)PDO telegrams are used to exchange periodic I/O data between the PLC and the drive.

The Altivar has three predefined PDO sets.

• The first PDO set (PDO1) reserved for drive control-signaling. Active by default, it comprises:- RPD01 (receive), to control the drive in speed mode (2 words: "CMD" control word and "LFRD" speed target)- TPD01 (transmit), to monitor the drive in accordance with this same mode (2 words: status word "ETA" and output speed "RFRD")

Each of these two PDOs can be reconfigured to include only the control word "CMD" or only the status word "ETA", thereby reducingits size to a single word.It can also be reconfigured to control the drive via its torque function. This changes its size to 3 words by means of the addition of thetorque target "LTR" (receive PDO) and the motor torque "OTR" (transmit PDO).Finally, these PDOs can be reconfigured entirely (1 to 4 words of the user’s choice).

• The second PDO set (PDO2) is deactivated by default and can be configured in full (1 to 4 words of the user’s choice).It is reserved for adjustments and for additional control and monitoring functions.By default, TPD02 (transmit) and RPD02 (receive) are not configured.

• The third PDO set (PDO3) is reserved for the "Controller Inside" programmable card on the Altivar (catalog number VW3 A3 501). Deactivated by default, it cannot be configured and comprises:

- RPDO3 (receive), containing 4 input words of the "Controller Inside" programmable card- TPDO3 (transmit), containing 4 output words of the "Controller Inside" programmable card

PDO3 should only be activated and used on a drive supplied with the "Controller Inside" programmable card.

RPDO1, TPDO1, RPDO2, TPDO2, RPDO3, and TPDO3 can each be enabled or disabled independently.

Each PDO can be activated or deactivated using bit 31 of its COB-ID. Set this bit to 1 to deactivate the PDO. Reset it to zero to activate thePDO.

By default, these three PDO are asynchronous, although the transmission mode of each PDO can be reconfigured by the user inaccordance with requirements:

• Asynchronous mode (255): The transmit PDO is only sent when the value of its data changes. In this mode, the "inhibit time" and "event timer" (e.g., objects 16#1800/03 and 16#1800/05 for TPD01) can be modified in order to adjust the PDO transmission frequency on the bus.

• Cyclic synchronous mode (1…240): The transmit PDO is sent each time a synchronization object (SYNC) is received or when a preconfigured number of synchronization objects (between 1 and 240) are received.

• Acyclic synchronous mode (0): The transmit PDO is sent each time the value of its data changes, but only during the synchronous "window" authorized by the next synchronization object (SYNC, not availble for the receive PDO).

The Altivar does not support the transmission of transmit PDOs on receipt of RTR frames (252, 253).

The drive optimizes the size of the TPDO frames (transmit); only useful data bytes are transmitted.The length of PDO3 is always 8 data bytes.

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Software setup

PDO default configurationReceive PDOs

Transmit PDOs

No. ofPDOs

Parameters configured by defaultComment

Index Name

1 16#6040 Control word (CMD) Drive control in speed regulation modeThis PDO can be reconfigured. It is activated by default.16#6042 Speed target (LFRD)

2No parameter configured by default

Additional settings or commandsThis PDO can be reconfigured.It is deactivated by default.

3 16#2064/2 "Controller inside" output word 1 (RP31) "Controller inside" card controlThis PDO cannot be reconfigured.It is deactivated by default.16#2064/3 "Controller inside" output word 2 (RP32)

16#2064/4 "Controller inside" output word 3 (RP33)

16#2064/5 "Controller inside" output word 4 (RP34)

No. ofPDOs

Parameters configured by defaultComment

Index Name

1 16#6041 Status word (ETA) Drive monitoring in speed regulation modeThis PDO can be reconfigured. It is activated by default.16#6044 Output speed (RFRD)

2No parameter configured by default.

Additional monitoringThis PDO can be reconfigured.It is deactivated by default.

3 16#2064/C "Controller inside" input word 1 (TP31) "Controller inside" card monitoringThis PDO cannot be reconfigured.It is deactivated by default.16#2064/D "Controller inside" input word 2 (TP32)

16#2064/E "Controller inside" input word 3 (TP33)

16#2064/F "Controller inside" input word 4 (TP34)

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Software setup

Optimizing the response timeThe response time can be optimized for the PDO1 configurations described below. In these configurations:

- The taking into account of RPD01 (receive) is processed with the same priority as a logic input from the terminals. - TPD01 (transmit) is updated with the same priority as an output from the terminals.

In all other configurations, a receive PDO is taken into account by the drive’s background task.

Receive PDOs

Transmit PDOs

No. ofPDOs

Parameters configuredComment

Index Name

1 16#6040 Control word (CMD) Drive control

No. ofPDOs


Index Name

1 16#6040 Control word (CMD) Drive control in speed regulation mode

16#6042 Speed target (LFRD)

No. of PDOs


Index Name

1 16#6040 Control word (CMD) Drive control in torque control or speed regulation mode

16#6042 Speed target (LFRD)

16#6071 Torque target (LTR)

No. ofPDOs


Index Name

1 16#6041 Status word (ETA) Drive state monitoring

No. of PDOs


Index Name

1 16#6041 Status word (ETA) Drive monitoring in speed regulation mode

16#6044 Output speed (RFRD)

No. of PDOs


Index Name

1 16#6041 Status word (ETA) Drive monitoring in torque control or speed regulation mode

16#6044 Output speed (RFRD)

16#6077 Output torque (OTR)

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Software setup

SDO (Service Data Objects)SDO telegrams are used for configuration and adjustment.

The Altivar manages an SDO server, characterized by two identifiers:• One for requests (telegrams sent from the PLC to the Altivar)• One for responses (telegrams sent back to the PLC by the Altivar)

Although the Altivar supports segmented transfer, this is only required by the reading of object 16#1008 (device name).

Other available services• Assignment by default of address-based identifiers• NMT commands: Start_Remote_Node (16#01), Stop_Remote_Node (16#02), Enter_Pre_Operational (16#80), Reset_Node

(16#81), Reset_Communication (16#82)• Bootup• Heartbeat producer and consumer• Node Guarding• Emergency (EMCY)• SYNC, for all PDOs on the Altivar• General broadcast support on identifier 0

Service not available• Time-stamping object (TIME)

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Software setup

Description of identifiers taken into accountThe identifiers will be referred to as COB-IDs (Communication OBject IDentifiers) in the rest of this user’s manual.

The Altivar supports the automatic assignment of identifiers (COB-IDs), based on its CANopen address.

The term "master" designates a device transmitting a request to a variable speed drive (example: a PLC).

The terms "input" and "output" are understood from the point of view of the master.

Bit 31 of PDO COB-ID entry, coded on 32 bits, is equal to 1 for TPDO2, RPDO2, TPDO3, and RPDO3, as they are inactive by default.

Direction Identifier (COB-ID) Description

Master V Drive 000 16#000 Service Network ManagemenT (NMT)

Master V Drive 128 16#080 SYNChronization service (SYNC)

Master V Drive 12816#080 + Node-ID EMergenCY service (EMCY)

Master X Drive 38416#180 + Node-ID Drive monitoring (TPDO1)

Master V Drive 51216#200 + Node-ID Drive control (RPDO1)

Master X Drive 64016#280 + Node-ID Drive periodic input words (TPDO2)

Master V Drive 76816#300 + Node-ID Drive periodic output words (RPDO2)

Master X Drive 89616#380 + Node-ID Periodic input words on the Altivar’s "Controller Inside" programmable

card (TPDO3)

Master V Drive 102416#400 + Node-ID Periodic output words on the Altivar’s "Controller Inside" programmable

card (RPDO3)

Master X Drive 140816#580 + Node-ID Response to a drive setting (transmit SDO)

Master V Drive 153616#600 + Node-ID Drive setting request (receive SDO)

Master V Drive 179216#700 + Node-ID

Network management (NMT, Node Guard, Heartbeat)

Master X Drive Network management (Bootup)

1755865 11/2010 27

Software setup with PL7 and SyCon

The following sections describe the settings to be made in PL7 PRO (version u V4.3) and SyCon (version u V2.8) in order for the Altivarto be recognized correctly by the CANopen master PLC. The following software versions are used in this context: PL7 PRO V4.4 and SyCon V2.8.

The CANopen bus, described in the following sections, includes just one CANopen master (Premium TSX 57353 V5.1 PLC + TSX CPP 110CANopen master PCMCIA card) and one slave (Altivar).

Hardware configuration in PL7 PROIn PL7 PRO, create a new application or open the application in which you wish to add a CANopen bus.

Edit the hardware configuration for this application by adding a "TSX CPP 110 PCMCIA CAN OPEN CARD" in "CHANNEL 1" of the "Comm"slot on the TSX 57353.

Note: TSX CPP 100 and TSX CPP 110 cards are configured in exactly the same way in PL7 PRO.

Click the "hilscher" button (in the red square above) to start up the SyCon configuration tool.

N.B. This button will only appear if SyCon is installed on the PC.

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Creating a CANopen network in SyCon

Selecting and adding a CANopen master PLC

Click "OK" to return to the main SyCon window.The selected master appears at the top:

Select "New" in the "File" menu to create a new configuration and select the "CANopen" bus type.

This command creates an empty network segment in the main SyCon window.

In our example, we save this configuration immediately under the name "ATV71 – Example Software Setup.co".

Select "Master…" in the "Insert" menu (or click the button).

The "Insert Master" window appears. Select the "TSX CPP 110" (or "TSX CPP 100") master device and click "Add >>."

You can also modify the address (Node-ID) and the description of this master device in this window.

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Select the CANopen master and run the "Bus parameters…" command in the "Parameters" menu to set the transmission speed parameter on the CANopen network.

The other parameters in the "Bus Parameter" window are not described here. For more information about the functions of the bus parameters, please refer to the online help or the documentation for the SyCon tool.

N.B. If you are using a PDO set in "synchronous" mode (cyclic or acyclic), you may need to adjust the value of "Communication Cycle Period", the default value of which is 100 ms, as shown in the window opposite. The PDO is then actually synchronized on this "Communication Cycle".

30 1755865 11/2010


Adding Altivar files to CANopen devices managed by SyConThe EDS file describing the Altivar must be imported into SyCon so that it features in its device database. This file is calledTEATV71xyE.eds.x.y: Altivar software version:

- x: Major revision- y: Minor revision

To import this file into SyCon, run the "Copy EDS" command in the "File" menu and select the EDS file indicated above. The user canchoose whether or not to "import corresponding bitmap files". Click "Yes" to add the three Altivar state icons (shown below) to the SyConbitmaps database.

If this command is executed correctly, a window will appear to inform the user that 1 EDS file and 3 bitmap files have been importedcorrectly.

The EDS file and the icon files can be found from our website at www.schneider-electric.com

TEATV71xyE_s.dib TEATV71xyE_r.dib TEATV71xyE_d.dib

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http://www.schneider-electric.com


Selecting and adding the Altivar to the CANopen bus

Click "OK" to return to the main SyCon window.

The selected device appears in the required position:

Select "Node…" in the "Insert" menu (or click the button).

Move the mouse pointer (which now looks like

this: ) to the position where you wish to add theAltivar, then left-click.

In the "Insert Node" window that appears, select the "ATV71_Vx.y_F" device and click the "Add >>" button.

You can also modify the address (Node-ID) and the description of this node in this window.

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Example of how to edit and configure the AltivarDouble-click the line corresponding to the Altivar. The "Node Configuration" window appears.

The "Node Configuration" window shown below illustrates the small number of operations required to configure Receive PDO1, TransmitPDO1, Receive PDO2 and Transmit PDO2 at the same time:

These operations are summarized here:

Adding PDOs to configured PDOs: In the "Predefined Process Data Objects (PDOs) from EDS file" section, select each of thePDOs to be added to the "Configured PDOs" section and click the "Add to configured PDOs" button or double-click the PDO tobe added.Before adding a PDO to the "Configured PDOs" section, SyCon will display a window in which you can configure a transmissionmode (transmit or receive PDO).

A "specific CANopen transmission type" can be configured for each of the Altivar receive PDOs.• Option 1 (value = 1 to 240): Cyclic synchronous mode• Option 2 or 3 (value = 254 or 255): Asynchronous mode• Acyclic synchronous mode not available.

A "specific CANopen transmission type" can be configured for each of the Altivar transmit PDOs.• Option 1 (value = 0): Acyclic synchronous mode• Option 2 (value = 1 to 240): Cyclic synchronous mode• Option 3 or 4 (value = 252 or 253): Synchronous and asynchronous modes triggered by the receipt of RTR telegrams

(remote frames); these modes are not supported by the Altivar.• Option 5 or 6 (value = 254 or 255): Asynchronous mode

A given PDO can only be added once to the "Configured PDOs" section (duplication is forbidden). Important note due to a special feature of Sycon (version V2.8): If you are not using one (or both) of the PDO1 process data objects, it (or they) must be deactivated via the PL7 program,using the SDO service. Conversely, if you are using at least one of the four PDO2 and/or PDO3 process data objects, itmust be activated using the same procedure. Please refer to the section "Activating/Deactivating PDOs via the PL7program" on page 36.

1

2

4

3

1

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and

Modifying the assignment of the "Receive" and "Transmit" parameters for configured PDOs. Please refer to the parameters manual, which describes all the drive parameters that can be configured in respect of PDO assignmenton the Altivar.

PDO1: In this example, we are not modifying the default assignment of the transmit PDO1 and the receive PDO1 in order to controland monitor the drive in accordance with DSP-402 profile "speed mode"; moreover, this enables the drive to react more quickly tothis command via the CANopen bus (see page 44).

In SyCon, a new window listing these default assignments can be opened by double-clicking these PDOs or by selecting a PDO andclicking the "PDO Contents Mapping" button:

Receive PDO1 parameter Transmit PDO1 parameterIndex Subindex Description Index Subindex Description

16#6040 16#00 Control word (CMD) 16#6041 16#00 Status word (ETA)16#6042 16#00 Target velocity (LFRD) 16#6044 16#00 Control effort (RFRD)

If you wish to modify the content of these PDO, you can delete and add objects to the "Mapped Object dictionary" of the selectedPDO (up to 4 objects for each PDO).Each object in a PDO assignment uses 2 bytes.

PDO2: In this example, we are using receive PDO2 to transmit the "Acceleration" (ACC) parameter to the drive and transmit PDO2 to receive the "Status word2" (ETI), "Default" (LFT), "Motor current" (LCR), and "Motor power" (oPR) parameters from the drive.

Receive PDO2: To configure theassignment of receive PDO2, select the"Receive PDO2 parameter" PDO in the

"Configured PDOs" section and click the "PDOContents Mapping" button, or double-click thisPDO.

Next, scroll down the "Mappable Objects fromEDS file" list until you reach the "Acceleration"parameter (index/subindex = 16#203C/02).

Select this parameter and click the "AppendObject" button or double-click the parameter toadd the corresponding object to the PDO"Mapped Object dictionary", i.e., to the content ofits assignment.

Transmit PDO2: To configure theassignment of transmit PDO2, select the"Transmit PDO2 parameter" PDO in the

"Configured PDOs" section and click the "PDOContents Mapping" button, or double-click thisPDO.

Next, scroll down the "Mappable Objects fromEDS file" list until you reach the "Status word 2"parameter (index/subindex = 16#2002/07).

Select this parameter and click the "AppendObject" button or double-click this parameter toadd the corresponding object to the PDO"Mapped Object dictionary" , i.e., to the content ofits assignment.

2

3

2

3

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Repeat these operations for the "Default" (index/subindex = 16#2029/16), "Motor current" (index/subindex = 16#2002/05) and "Motorpower" (index/subindex = 16#2002/0C) parameters. These parameters correspond to drive parameters LFT, LCR and OPR.

PDO3: In this example, we are not using PDO3, as our drive does not have a "Controller Inside" programmable card.

Regardless of its nature, the default assignment of PDO3 is static and cannot, therefore, be modified.

N.B. To use the Heartbeat service with the CANopen master, you must first enable the "Heartbeat function" in the "Bus Parameter" window(see Creating a CANopen network in SyCon on page 18). The CANopen master must of course support this service, as the CANopenmaster used here (TSX CPP 110) does. The TSX CPP 100 CANopen master PCMCIA card is an example of a CANopen master that doesnot support this service.

The Altivar can also be configured to control another station (identified uniquely by its NODE-ID) on the bus in the "Node Heartbeat Consumer List" section. Each station appears in this list and its "Producer Time (ms)" is specified. Check a box in the "Active" column to have the corresponding "Node-ID" node checked at regular intervals by the Altivar (in this case, the "Consumer Time (msec.)" must be greater than the "Producer Time (msec.).").

Configuring the error control service on the Altivar

Click the "Configuration Error Control Protocol" to display the following selection of error control services that can be used on theAltivar: "Node Guarding" service or "Heartbeat" service.

• Node Guarding service: If this service is selected, the two parameters "Guard Time" and "Life Time Factor" are used to generate a Life Time. For more information, please refer to the Node Guarding service section on page 53.

- In our example, we are configuring a "Guard Time" of 500 ms and a "Life Time Factor" of 4, resulting in a Life Time of 4 x 500 ms = 2 seconds.

• Heartbeat service: If this service is selected, the "Master Consumer Time of Node" parameter (16#1016/01) must be greater than the "Node Heartbeat Producer Time" parameter (16#1017/00). If the "Master Consumer Time of Node" is 0 for the node currently configured, the master will not control the bus activity of this node.

•

4

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Saving and opening the CANopen bus configuration in PL7 PROSave the CANopen configuration and give it a name ("Save" or "Save As…" in the "File" menu). This configuration is saved in a ".co" file.

In the PL7 PRO window shown in section "Hardware configuration in PL7 PRO" on page 28, click the "Select Database" button and selectthe file saved previously (e.g., "C:\Program Files\Schneider\SyCon\Project\ATV71 – Example Software Setup.co"). Once you have madeyour selection, the "Loading configuration mode" section is updated.

Activating/Deactivating PDOs via the PL7 programNote:By default, the Altivar transmit PDO1 and receive PDO1 are active. If you do not configure one (or both) of the two PDOs in the"Configured PDOs", SyCon will not deactivate it (or them) due to an internal anomaly. You must deactivate it (or them) via the PL7 program.

Transmit or receive PDOs (set PDO1) are deactivated in the PL7 application by using the SDO service to activate bit 31 of the "PDO COB-ID entry" parameter for the corresponding "Receive/transmit PDO1 parameter" object (see below). This bit activation will mark the PDO as"invalid", so that it will not be exchanged on the CANopen bus.However, the 31 other bits in COB-ID entry PDO must not be modified.

Example: The PL7 example below deactivates the Altivar transmit PDO1 located in address 4:

Note:The Altivar transmit PDO2, receive PDO2, transmit PDO3, and receive PDO3 are inactive by default. If you configure one (or more)of these four PDOs in the "Configured PDOs", SyCon will not activate it (or them) due to an internal anomaly. You must activate it (or them)via the PL7 program.

Transmit or receive PDOs (set PDO2 or PDO3) are activated in the PL7 application by using the SDO service to deactivate bit 31 of the"PDO COB-ID entry" parameter for the corresponding "Receive/transmit PDO2/PDO3 parameter" object (see below). This bit deactivationwill mark the PDO as "valid" so that it is exchanged on the CANopen bus.However, the 31 other bits in COB-ID entry PDO must not be modified.

Example: The PL7 example below deactivates the Altivar receive PDO2 located in address 6:

Index Subindex Description PDO activated PDO deactivated

16#1400 16#01 COB-ID entry, receive PDO1 16#00000200 + Node-ID 16#80000200 + Node-ID

16#1800 16#01 COB-ID entry, transmit PDO1 16#00000180 + Node-ID 16#80000180 + Node-ID

%MD1000:=16#80000184;(* data to send = disabling of transmit PDO1 via node 4 *) %MW500:=16#1800;(* logic address – index in the LSB of %MD500 *) %MW501:=16#0001;(* logic address – subindex in the MSB of %MD500 *) %MW22:=50;(* time-out = 50 x 10 ms = 500 ms *) %MW23:=4;(* data length = 4 bytes *) (* SEND write command SDO WRITE *) WRITE_VAR(ADR#0.1.SYS,'SDO',%MD500,6,%MW1000:2,%MW20:4);

Index Subindex Description PDO deactivated PDO activated





%MD1100:=16#00000306;(* data to send = activation of receive PDO2 by node 6 *) %MW600:=16#1401;(* logic address – index in the LSB of %MD600 *) %MW601:=16#0001;(* logic address – subindex of the MSB of %MD600 *) %MW32:=50;(* time-out = 50 x 10 ms = 500 ms *) %MW33:=4;(* data length = 4 bytes *) (* SEND write command SDO WRITE *) WRITE_VAR(ADR#0.1.SYS,'SDO',%MD600,6,%MW1100:2,%MW30:4);

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The CANopen master supports the configuration of a variety of options:

Option Default value Possible values

(Task) MAST MAST or FAST

Used to select the type of system task, which will control the CANopen network.N.B. The PL7 PRO software application is subdivided into a "Mast Task" and a "Fast Task".

Bus startup Automatic Automatic, semi-automatic or via program

Behavior of the bus when the CANopen master starts up.

Inputs %MW0 to %MW31 (number of %MW) + (first %MW)

Number of %MW words and index of the first %MW word on the master PLC to which the input data supplied by the TSX CPP 100CANopen PCMCIA card will be assigned. Please refer to the CANopen master documentation and the master PLC documentation toascertain the maximum number of words that can be assigned to inputs.It makes no sense to assign too many words. Neither do we recommend assigning the fewest words possible, as the bus configurationmay need to be modified to meet future application requirements.The Altivar can use up to 24 bytes (12 words) of input data, but this can only be achieved by using the three "transmit PDOs" from thethree PDO sets: up to 8 bytes for transmit PDO1 (by reconfiguring its default assignment), up to 8 bytes for transmit PDO2 (byreconfiguring its assignment) and 8 bytes for transmit PDO3 (static assignment of 4 objects).

Example: In our previous example, we reduced the number of %MW input words to 6 (12 bytes), as the CANopen inputs correspondingto the Altivar are those of transmit PDO1 by default (ETA and RFRD parameters), plus those of transmit PDO2, which we configured tocontain 4 objects (ETI, LFT, LCR, and OPR parameters).

In SyCon, the "I Len." column in the "Configured PDOs" section indicates the size of the input data (type = IB = Input Bytes) of eachtransmit PDO configured for a given node. In our case, we have 4 IBs for transmit PDO1 and 8 IBs for transmit PDO2, for a total of 12input bytes.

The first input word remains %MW0; our CANopen input words are, therefore, %MW0 to %MW5. The order in which the transmit PDOsand the objects they contain are configured determines the content of the corresponding %MW input words. In our case, words %MW0to %MW5 correspond to drive parameters ETA, RFRD, ETI, LFT, LCR, and OPR.

Outputs %MW32 to %MW63 (number of %MW) + (first %MW)

The "Inputs" description above applies equally to the outputs, although in this case, the outputs are master PLC output words and TSXCPP 110 CANopen PCMCIA card output data.The Altivar can use up to 24 bytes (12 words) of output data, but this can only be achieved by using the three "receive PDOs" from thethree PDO sets: Up to 8 bytes for receive PDO1 (by reconfiguring its default assignment), up to 8 bytes for receive PDO2 (byreconfiguring its assignment) and 8 bytes for receive PDO3 (static assignment of 4 objects).

Example: In our example, we reduce the number of %MW input words to 3 (6 bytes), as the CANopen outputs corresponding to the Altivarare those of receive PDO1 by default (CMD and LFRD parameters), plus those of receive PDO2, which we configured to contain just oneobject (CMI parameter).

In SyCon, the "O Len." column in the "Configured PDOs" section indicates the size of the output data (type = OB = Output Bytes) of eachreceive PDO configured for a given node. In our case, we have 4 OBs for receive PDO1 and 2 OBs for receive PDO2, for a total of 6output bytes.

We assign the output words so that they are located just behind the input words: The first output word is %MW6; our CANopen wordsare, therefore, %MW6 to %MW8. The order in which the receive PDOs and the objects they contain are configured determines the contentof the corresponding %MW output words. In our case, words MW6 to %MW8 correspond to drive parameters CMD, LFRD, and CMI.

Outputs Reset Maintain or reset

Indicates if the CANopen output words are maintained or reset to zero when the associated task (see above) is stopped, as this type of stop does not stop the TSX CPP 110 card.

Watchdog Activated Activated or deactivated

If this option is activated, the CANopen watchdog on the TSX CPP 110 CANopen PCMCIA card will be triggered as soon as the card experiences difficulty managing the CANopen bus. At the same time, all CANopen output words are reset to 0.

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Viewing CANopen master inputs and outputsPL7 PRO uses the information stored in the ".co" file selected to match up the data from each CANopen node directly with its equivalent%MW input and output words.

Note: These assignments are only valid if the Altiva is the only slave on the CANopen but and if the two PDOs in sets PDO1 and PDO2are used as described in the previous example. Configuring other slaves on the same bus or modifying the configuration of the Altivar PDOswill change the assignment of the input and output words described above. In this case, SyCon features a command that can be used toview all inputs and outputs: Select "Table Addresses…" in the "View" menu.

Note:Please note that SyCon displays the addresses and byte sizes ("IB" for inputs and "OB" for outputs). Do not forget that these bytes arealigned to word addresses. Therefore, an object with 1 byte assigned in an active PDO will in fact take an entire word: The object of 1byte will be assigned to the MSB byte of this word and the LSB byte will become a "free" byte.

The table below indicates the correspondence between the Altivar PDOs configured and the PLC inputs and outputs:

Option Default value Possible values

Loading configuration mode PL7 PL7 or SyCon

PL7: The CANopen bus configuration is downloaded to the destination master PLC using the PL7 software application. In the event ofinsufficient application memory for this configuration, PL7 will disable this mode.SyCon: The CANopen bus configuration is considered to have been loaded to the PCMCIA card, supposing, therefore, that it has beendownloaded using SyCon. PL7 PRO simply checks that the configuration of the card is identical to the content of the ".co" file selected, therebyavoiding any configuration inconsistencies. Nevertheless, any bus parameter modifications must be performed in SyCon.

To view the Altivar inputs/outputs, click the "BusConfiguration" button. The "CANopen busconfiguration" window appears (see opposite).

Select the "ATV71_V1.1" CANopen" slave(addr. 0002) to display the input and outputwords configured for this word only.

In this window, on the right-hand side, explicitsymbols have been attributed in advance towords %MW0 to %MW8 in order to illustrate thelink between these words and the PDOsconfigured in SyCon.

PDO Type SyCon I/O PL7 PRO I/O Description of the assigned object

Transmit PDO1 InputsIB0 - IB1 %MW0 "ETA" status word, default assignment

IB2 - IB3 %MW1 "RFRD" output speed, default assignment

Transmit PDO2 Inputs

IB4 - IB5 %MW2 "ETI" extended status word configured in the example

IB6 - IB7 %MW3 "LFT" fault configured in the example

IB8 - IB9 %MW4 "LCR" estimated motor current configured in the example

IB10 - IB11 %MW5 "OPR" output power configured in the example

Receive PDO1 OutputsOB0 - OB1 %MW6 "CMD" control word, default assignment

OB2 - OB3 %MW7 "LFRD" target speed, default assignment

Receive PDO2 Outputs OB4 - OB5 %MW8 Acceleration "ACC" configured in the example

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ExampleThis example is designed essentially to:

• Start up the Altivar in accordance with the DSP402 state chart• Alternate between forward and reverse operation at 1500 rpm during time-out TM0

It uses the following memory objects:

(* Masks the status word *)%MW9:=%MW0 AND 16#00FF; (* Status word "ETA" = 16#xx40 = ATV locked *)IF(%MW9=16#0040)THEN

%MW6:=16#0006;(* Control word "CMD" = 16#0006 = Shutdown *)END_IF; (* Status word "ETA" = 16#xx21/23 = ATV waiting/ATV ready *)IF(%MW9=16#0021)OR(%MW9=16#0023)THEN

%MW6:=16#000F;(* Control word "CMD" = 16#000F = Enable operation *) %MW7:=1500;(* Speed target "LFRD" = +1500 rpm *) START %TM0;(* Starts forward/reverse time-out *)

END_IF; (* Status word "ETA" = 16#xx27 = ATV running *)IF(%MW9=16#0027)THEN

(* Forward/reverse time-out elapsed *) IF %TM0.Q THEN

(* Inversion of direction of rotation by means of inversion of "LFRD" speed target sign*) (* Speed target "LFRD" = +/- 1500 rpm *) IF %MW7=1500 THEN %MW7:=-1500; ELSE %MW7:=1500; END_IF; (* Checks that the status word "ETA" has not changed --> "Enable operation" command *) %MW6:=%MW6 OR 16#000F; (* Restarts the forward/reverse time-out *) DOWN %TM0;START %TM0;

END_IF;END_IF;

1755865 11/2010 39

Detailed description of services

NMT commandsMaster C Drive

(1) If Node-ID = 0, the "command specifier" is broadcast to all CANopen slaves (including the Altivar). Each slave must then execute thisNMT command, thereby completing the corresponding transition (see below). Check that your CANopen slaves support broadcastcommunication on COB-ID 0, which the Altivar does (see page 26).

Example: Transition to pre-operational state (Enter_Pre-Operational_State = 16#80) of the Altivar located at CANopen address 4 (16#04).

COB-ID Byte 0 Byte 1

0(16#000)

Command specifier (CS)

Node-ID(1)

Command specifier (CS) Meaning

001 (16#01) Start_Remote_Node

002 (16#02) Stop_Remote_Node

128 (16#80) Enter_Pre-Operational_State

129 (16#81) Reset_Node

130 (16#82) Reset_Communication

16#000 16#80 16#04

40 1755865 11/2010


CANopen NMT state chart

Depending on the communication status of the drive, the following services are available:

In the event of a resettable fault, the drive must be in the "Operational" NMT state in order that the PDO carrying the control word CMD(receive PDO1, preferably) can reset the drive using the CMD "reset fault" bit. The CANopen "master" will then have to set the drive to the"Operational" state using an NMT telegram, with CS – 1 (Start_Remote_Node) and Node-ID = drive node address.

Note: The drive NMT state is transmitted by the drive if the Node Guarding protocol has been activated (see page 54). It is also availablevia the [Canopen NMT state] (NMTS) parameter (logic address 6057, CANopen index 16#201E/3A).

Transition Description

(1) On power-up, the node automatically changes to the initialization state.

(2) Once initialization is complete, the pre-operational state is activated automatically.

(3), (6) Start_Remote_Node

(4), (7) Enter_Pre-Operational_State

(5), (8) Stop_Remote_Node

(9), (10), (11) Reset_Node

(12), (13), (14) Reset_Communication

Initialization Pre-operational Operational Stopped

PDO X

SDO X X

Synchronization (SYNC) X X

Emergency (EMCY) X X

Bootup service X X

Network management (NMT) X X X

Power-up or hardware reset

Pre-operational

Operational

Initialization

Stopped

(1)

(2)

CS = 129CS = 130

CS = 128

CS = 2

CS = 2CS = 1CS = 1

CS = 128

(3) (4)(5)

(7)

(6)

(8)

(9)

(11)

(10)

(12)

(13)

(14)

1755865 11/2010 41


NMT state chart fault:Some transitions in the NMT state chart will trigger a CANopen communication fault. These transitions are listed in the table and illustratedin the chart below (solid lines with arrows).

These transitions suppress a service, which can be used to control the drive. A communication fault must be triggered in order to avoidlosing control of the drive.

Transition Description

(4) Enter_Pre-Operational_State

(5), (8) Stop_Remote_Node

(9), (10), (11) Reset_Node

(12), (13), (14) Reset_Communication

Transition Service lost

(4) PDO

(5) SDO

(8), (9), (10), (11), (12), (13), (14) PDO and SDO

Power-up or hardware reset

Pre-operational

Operational

Initialization

Stopped

(1)

(2)

CS = 129CS = 130

CS = 128

CS = 2

CS = 2CS = 1CS = 1

CS = 128

(3) (4)(5)

(7)

(6)

(8)

(9)

(11)

(10)

(12)

(13)

(14)

42 1755865 11/2010


Bootup serviceMaster B Drive

This service is used to indicate that the drive has changed to the "pre-operational" state following the "initialization" state (page 41).

The only data byte sent in a Bootup frame is always equal to 16#00.

Synchronization object - SYNCMaster C Drive

The SYNC object is sent cyclically by the CANopen master.It does not contain data and its frame is, therefore, limited to its unique COB-ID identifier.

The purpose of this object is essentially to authorize synchronous communication modes for CANopen slaves. In the case of the Altivar,none of the PDOs used can be defined in cyclic or acyclic synchronous communication mode.

Emergency object - EMCYMaster B Drive

An EMCY object is sent by the Altivar to other CANopen devices, with a high priority, every time a fault appears (byte 2/bit 0 = 1) ordisappears (byte 2/bit 0 = 0). This is the case in particular for "Heartbeat" or "Life Guard" type faults. An EMCY object is never repeated.

The error code parameter (Errd) (logic address = 8606, CANopen index = 16#603F) is described in the parameters manual.

COB-ID Byte 0

1792(16#700)+Node-ID

16#00

COB-ID

128(16#080)


128(16#080)

+NODE-ID

Fault code (Errd) Error register 0 0 0 0 0

LSB MSB Bit 0 = 0 (no fault)or 1 (fault)

1755865 11/2010 43


PDO1Default assignmentTransmit TPDO1Master B Drive

Example: The Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) is in the "Operation enabled" state and is not faulty (statusword "ETA" = 16#xxx7). In our example, the status word "ETA" is equal to 16#0607.Furthermore, the speed of the motor is equal to 1500 rpm (16#05DC).

Receive RPDO1Master C Drive

Example: The Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) receives the command called "Enable operation" (control word"CMD" = 16#xxxF). In our example, the control word "CMD" is equal to 16#000F.Furthermore, the speed of the motor is equal to 1200 rpm (16#04B0).

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

384(16#180)+Node-ID

Status word "ETA" Output speed "RFRD"

LSB MSB LSB MSB

16#184 16#07 16#06 16#DC 16#05

COB-ID Byte 0 Byte 1 Byte 2 Byte 3

51216#200

+Node-ID

Control word "CMD" Speed target "LFRD"

LSB MSB LSB MSB

16#204 16#0F 16#00 16#B0 16#04

44 1755865 11/2010


Extended default assignmentTransmit TPDO1Master B Drive

Example: The Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) is in the "Operation enabled" state and is not faulty (statusword "ETA" = 16#xxx7). In our example, the status word "ETA" is equal to 16#0607, the speed of the motor is equal to 1500 rpm (16#05DC)and the motor torque is equal to 50% (500 x 0.1% = 16#01F4).


Example: The Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) receives the command called "Enable operation" (controlword "CMD" = 16#xxxF). In our example, the control word "CMD" is equal to 16#000F, the speed target of the motor is equal to 1200 rpm(16#04B0) and its torque target is equal to 50% (500 x 0.1% = 16#01F4).

Restricted default assignmentTransmit TPDO1Master B Drive


COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5

384(16#180)

+ Node-ID

Status word "ETA" Output speed "RFRD" Motor torque

LSB MSB LSB MSB LSB MSB

16#184 16#07 16#06 16#DC 16#05 16#F4 16#01


512(16#200)

+ Node-ID

Control word "CMD" Speed target "LFRD" Torque target "LTR"


16#204 16#0F 16#00 16#B0 16#04 16#F4 16#01


384(16#180)

+ Node-ID

Status word "ETA"

LSB MSB


512(16#200)

+ Node-ID

Control word "CMD"

LSB MSB

1755865 11/2010 45


User assignmentTransmit TPDO1Master B Drive

Note: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar. For example, if no parameters havebeen assigned to bytes 6 and 7, the data length of transmit PDO1 will be 6 bytes.

Example: The two default assignment parameters are maintained (16#6041/00 and 16#6044/00) and are suffixed (i.e., in bytes 4 and 5)with the "Torque Actual Value" motor torque parameter (16#6077/00), thereby producing the extended default assignment of transmitPDO1.This extended default assignment then becomes a user assignment by means of the suffixing (i.e., in bytes 6 and 7) of the parameters ofthe current in the motor object "LCR" (16#2002/05), thereby producing the following user assignment:

Consider an Altivar located at CANopen address 4 (COB-ID = 16#180 + 4) and in the following state:• Current state = "Operation enabled" and no faults (status word "ETA" = 16#xxx7). In our example, the status word "ETA" is equal to

16#0607.• The output speed "RFRD" is equal to 1500 rpm (16#05DC).• The motor torque is equal to 83% (830 x 0.1% = 16#033E).• The current in the motor "LCR" is equal to 4.0 A (16#0028).

The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):


384(16#180)+Node-ID

Altivar variable(by default: status word

"ETA")

Altivar variable(by default: output speed

"RFRD")

Altivar variable(by default: no parameter)


LSB MSB LSB MSB LSB MSB LSB MSB


384(16#180)+Node-ID

Status word "ETA" Output speed "RFRD" Motor torque "OTR" Current in the motor "LCR"


16#184 16#07 16#06 16#DC 16#05 16#3E 16#03 16#28 16#00

46 1755865 11/2010



Example: The first default assignment object is maintained (16#6040/00) but the second is deleted (16#6042/00), thereby producing therestricted default assignment of receive PDO1.This restricted default assignment then becomes a user assignment by means of the suffixing of the Acceleration ramp time "ACC"/"Acceleration" (16#203C/02) and Deceleration ramp time "DEC"/"Deceleration" (16#203C/03) parameters in bytes 2 to 5, thereby producingthe following user assignment:

Consider an Altivar located at CANopen address 4 (COB-ID = 16#200 + 4) and controlled as follows:• "Enable operation" command (control word "CMD" = 16#xxxF). In our example, the control word "CMD" is equal to 16#000F.• The acceleration ramp time "ACC" is 1 s (10 = 16#000A).• The deceleration ramp time "DEC" is 2 s (20 = 16#0014).

The corresponding telegram received for this receive PDO is therefore as follows (6 data bytes):


512(16#200)+Node-ID

Altivar variable(by default: control word

"CMD")

Altivar variable(by default: speed target

"LFRD")





512(16#200)+Node-ID

Control word "CMD" Acceleration ramp time "ACC"

Deceleration ramp time "DEC"


16#204 16#0F 16#00 16#0A 16#00 16#14 16#00

1755865 11/2010 47


PDO2Set PDO2 on the Altivar is disabled by default ("PDO COB-ID entry" parameter = 16#80000XXX).

To enable it, use the SDO service in write mode to set bit 31 of the "PDO COB-ID entry" parameter in transmit PDO2 (16#1801/01) and/orreceive PDO2 (16#1401/01) to zero.

Unlike set PDO1, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO2 in order to authorize slave-to-slave communication.

Transmit TPDO2Master B Drive

Note: Any bytes left unused at the end of this PDO will not be transmitted on the bus by the Altivar. For example, if no parameters havebeen assigned to bytes 6 and 7, the data length of transmit PDO2 will be 6 bytes.

Example: Assignment of 3 parameters: Last fault occurred "LFT" (16#2029/16), Current in the motor "LCR" (16#2002/05) and Motor power"OPR" (16#2002/0C). This produces the following user assignment:

Consider an Altivar located at CANopen address 4 (COB-ID = 16#280 + 4) and in the following state:• The last fault occurred "LFT" is "nOF"/no fault stored (16#0000).• The current in the motor "LCR" is equal to 4.0 A (16#0028).• The motor power "OPR" is equal to 50% (16#0032).

The corresponding telegram sent for this transmit PDO is therefore as follows (8 data bytes):



640(16#280)+Node-ID







640(16#280)+Node-ID

Last fault occurred "LFT" Current in the motor "LCR" Motor power "OPR"


16#284 16#00 16#00 16#28 16#00 16#32 16#00


768(16#300)+Node-ID






48 1755865 11/2010


PDO3This PDO set is reserved for the Altivar "Controller Inside" programmable card and must only be used on a drive equipped with this card.

Set PDO3 on the Altivar is disabled by default (bit 31 of PDO COB-ID entry = 1).

To enable it, use the SDO service in write mode to set bit 31 of the "PDO COB-ID entry" parameter in transmit PDO3 (16#1802/01) and/orreceive PDO3 (16#1402/01) to zero.

Unlike set PDO2, it is also possible to modify bits 0 to 6 of the COB-IDs in set PDO3 in order to authorize slave-to-slave communication.

Unlike the assignment of PDO1 and PDO2 objects, the assignment of PDO3 objects cannot be modified.

Transmit TPDO3Master B Drive



896(16#380)+Node-ID

Output word TP31 on the "Controller Inside"

programmable card


programmable card


programmable card


programmable card



1024(16#400)+Node-ID

Input word RP31 on the "Controller Inside"

programmable card


programmable card


programmable card


programmable card


1755865 11/2010 49


SDO serviceRequest: Master C Drive

Response: Master B Drive

The content of the "request data" and "response data" will vary depending on the "request code" and the "response code". The two tablesbelow indicate the various possible scenarios:

(1)To use an SDO service reserved for reading multi-byte data, such as "manufacturer name" (parameter 16#1008: 16#00), segmentedtransfer is triggered between the master and the drive.The "request code" 16#80 is used to stop this type of transfer.

(2)The response data (bytes 4 to 7) correspond to a 32-bit "cancellation code" (a complete list of all cancellation codes supported by theAltivar appears in the table on the next page).

Note: Segmented transfer can only be used for items of data larger than 4 bytes. It is only used for "Device name" (object 16#1008) inconjunction with the Altivar.


1536(16#600)+Node-ID

Request code

Object index Object subindex

Request data

LSB MSB Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24


1408(16#580)+Node-ID

Response code

Object index Object subindex

Request data

LSB MSB Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24

Request code

Description of the command Byte 4 Byte 5 Byte 6 Byte 7

16#23 Write data 4 bytes in length (e.g., UNSIGNED 32) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24

16#2B Write data 2 bytes in length (e.g., UNSIGNED 16) Bits 7-0 Bits 15-8 16#00 16#00

16#2F Write data 1 byte in length (e.g., UNSIGNED 8) Bits 7-0 16#00 16#00 16#00

16#40 Read data 1/2/4 bytes in length 16#00 16#00 16#00 16#00

16#80 Cancel current SDO command (1) 16#00 16#00 16#00 16#00

Response code

Description of the response Byte 4 Byte 5 Byte 6 Byte 7

16#43 Read data: 4 bytes of data: response (1) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24

16#4B Read data: 2 bytes of data: response (1) Bits 7-0 Bits 15-8 16#00 16#00

16#4F Read data: 1 byte of data: response (1) Bits 7-0 16#00 16#00 16#00

16#60 Write data 1/2/4 bytes in length: response 16#00 16#00 16#00 16#00

16#80 Error sending cancellation code (2) Bits 7-0 Bits 15-8 Bits 23-16 Bits 31-24

50 1755865 11/2010


(1)Please note that the "cancellation codes" listed in this table have been written in accordance with general convention and must, therefore,be inverted in the case of byte-by-byte representation for "bytes 4 to 7" (e.g., 16# 0609 0030 becomes byte 4 = 16#30, byte 5 = 16#00,byte 6 = 16#09, byte 7 = 16#06).

Important notes about the SDO serviceDo not try to use SDO write requests to a parameter that has been assigned in an RPDO (receive).

Example: If the speed target (rpm) is assigned in RPDO1, there is no point using an SDO to write this target.

Any parameter connected to one of the parameters configured in an RPDO (receive) must not be modified using an SDO writerequest.

Example: If the speed target in (rpm) is assigned in RPDO1, there is no point using an SDO to modify the frequency target (0.1 Hz).

Cancellation code (1) Description

16# 0503 0000 Segmented transfer: The toggle bit has not been modified.

16# 0504 0001 "Request code" invalid or unknown

16# 0601 0000 Parameter access error (e.g., write request on "read-only" parameter)

16# 0601 0002 Attempt to execute a write request on a "read-only" parameter

16# 0602 0000 The "index" sent in the request refers to an object, which does not exist in the object dictionary

16# 0604 0041 PDO object assignment: The parameter cannot be assigned to the PDO; this error occurs when writing to parameters 16#1600, 16#1601, 16#1602, 16#1A00, 16#1A01, and16#1A02 (assignments of PDO1, 2 and 3)

16# 0604 0042 PDO object assignment: The number and/or length of the parameters to be assigned exceeds the maximum PDO length.

16# 0609 0011 The "subindex" sent in the request does not exist

16# 0609 0030 Outside parameter value limits (for a write request only)

16# 0609 0031 Value of parameter written too high

16# 0800 0000 A general error has occurred

1755865 11/2010 51


Example of a read operation using the SDO serviceThis example explains how to read the "acceleration ramp time (ACC)" parameter on an Altivar located at CANopen address 4 (COB-ID =16#580 + Node-ID or 16#600 + Node-ID). The "index/subindex" value of this parameter is equal to 16#203C/02.

Read request: Master C Drive

Read response: Master B Drive

The value of the parameter read is equal to 1000 (16#03E8), equivalent to an "acceleration ramp time (ACC)" of 100 s, as the unit of thisparameter is "0.1 s".

Example of a write operation using the SDO serviceThis example explains how to write the value 100 s to the "acceleration ramp time (ACC)" parameter on an Altivar located at CANopenaddress 4 (COB-ID = 16#580 + Node-ID or 16#600 + Node-ID). The "index/subindex" value of this parameter is equal to 16#203C/02.

Write request: Master C DriveThe "request code" is 16#2B as we are trying to modify the value of an item of data 2 bytes in length.

The "Request data" field indicates that the value we are trying to assign to the parameter is equal to 1000 (16#03E8), equivalent to an"acceleration ramp time (ACC)" of 100 s, as the unit of this parameter is "0.1 s".

Write response: Master B Drive

16#604 16#40 16#3C 16#20 16#02 16#00 16#00 16#00 16#00

16#584 16#4B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00

16#604 16#2B 16#3C 16#20 16#02 16#E8 16#03 16#00 16#00

16#584 16#60 16#3C 16#20 16#02 16#00 16#00 16#00 16#00

52 1755865 11/2010


Node Guarding serviceDescriptionEither the Node Guarding service described here or the Heartbeat service described below can be used for communication monitoring. Onlyone of these two services can be active at any one time.

The Node Guarding service is deactivated by default on the Altivar.

Master C DriveThe master scans the drive at regular intervals ("Life Time") by sending "remote transmit requests" (RTR). The "Life Time" is calculated bymultiplying the "Guard Time" by the "Life Time Factor". These two parameters are described on page 57.

If, once the "Life Time" has expired, the drive has not received the RTR:• It triggers a "Life Guarding" fault (see section "Configuring communication fault management")• and sends an emergency telegram (EMCY) (see page 43).

Master B Drive

The drive response indicates it NMT state via the "NMT information" field, described here: Bit 7 = Toggle bit: The value of this bit must alternate from one drive response to the other. The value of the toggle bit for the first responsefollowing activation of the Node Guarding service is 0. This bit can only be reset to 0 by sending the "Reset_Communication" command tothe drive (see section Detailed description of services, page 41). If a response is received with the same toggle bit value as the previousresponse, the new response is treated as if it had not been received.

Bits 6-0 = NMT state: Current NMT state of the Altivar: Initialization (16#00), Stopped (16#04), Operational (16#05) or Pre-operational(16#7F). The [Canopen NMT state] (NMTS) parameter (16#201E/3A) can be accessed via the drive display terminal (see section"CANopen communication diagnostics", page 17) and via the Power Suite software workshop.

If the drive does not send a response or if it sends an incorrect state, the master will trigger a "Node Guarding" event.

COB-ID Byte 0

1792(16#700)+Node-ID

NMT information

1755865 11/2010 53


Example configuration for the Node Guarding serviceThe Altivar "Life Time" can be modified using the SDO service in order to write new values for the "Guard Time" and "Life Time Factor"parameters.

In our example, we are going to configure a Life Time of 2 seconds, with a Guard Time of 500 ms and a Life Time Factor of 4(500 ms × 4 = 2 s).

1) Setting the "Guard Time" parameter to 500 ms• COB-ID = 16#600 + Node-ID for the write request or 16#580 + Node-ID for the write response• Request code (byte 0) = 16#2B to write data 2 bytes in length• Response code (byte 0) = 16#60 if the write operation has been completed without errors• Object index (bytes 1 and 2) = 16#100C• Object subindex (byte 3) = 16#00• Request data (bytes 4 and 5) = 16#01F4 (500)

Request: Master C Drive


2) Setting the "Life Time Factor" parameter to 4• COB-ID = 16#600 + Node-ID for the write request or 16#580 + Node-ID for the write response• Request code (byte 0) = 16#2F to write data 1 byte in length• Response code (byte 0) = 16#60 if the write operation has been completed without errors• Object index (bytes 1 and 2) = 16#100D• Object subindex (byte 3) = 16#00• Request data (byte 4) = 16#04 (4)

Request: Master C Drive


Parameter Index Subindex Format Unit

Guard Time 16# 100C 16# 00 16-bit unsigned integer 1 ms

Life Time Factor 16# 100D 16# 00 Unsigned byte __

16#604 16#2B 16#0C 16#10 16#00 16#F4 16#01 16#00 16#00

16#584 16#60 16#0C 16#10 16#00 16#00 16#00 16#00 16#00

16#604 16#2F 16#0D 16#10 16#00 16#04 16#00 16#00 16#00

16#584 16#60 16#0D 16#10 16#00 16#00 16#00 16#00 16#00

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Heartbeat serviceDescriptionIf you do not activate the Node Guarding service described in the previous section, you can use the Heartbeat service to monitoringcommunication with another node, provided that it supports this service.

The Heartbeat service is deactivated by default on the Altivar (the "Consumer Heartbeat Time" and "Producer Heartbeat Time" parametersare both set to 0).

Producer C Consumer

Each "Heartbeat Producer" sends Heartbeat messages at regular intervals (the "Producer Heartbeat Time" 16#1017/00).All "Heartbeat Consumers" check that they receive these messages in a time less than the "Consumer Heartbeat Time" (16#1016/01).The "Producer Heartbeat Time" must be less than the "Consumer Heartbeat Time".

If the drive has been configured as a consumer and a period of time equal to the "Consumer Heartbeat Time" elapses without a "Heartbeatmessage" being received, the drive will trigger a "Heartbeat" event and send an emergency telegram (EMCY).If CANopen is the active channel, a CANopen fault (COF) will be triggered.

The "Heartbeat message" sent from the drive contains a "Heartbeat Producer state" field (byte 0), described here:Bit 7 = Reserved: This bit is always equal to 0.Bits 6-0 = Heartbeat Producer state: Current NMT state of the Altivar: Initialization (16#00), Stopped (16#04), Operational (16#05) or Pre-operational (16#7F).

COB-ID Byte 0

1792(16#700)+Node-ID

Heartbeat Producer state

1755865 11/2010 55

Object dictionary

Index Object

16#0000 Not used

16#0001 - 16#001F Static data

16#0020 - 16#003F Complex data

16#0040 - 16#005F Not used (manufacturer-specific complex data)

16#0060 - 16#007F Device-profile-specific static data

16#0080 - 16#009F Device-profile-specific complex data

16#00A0 - 16#0FFF Reserved

16#1000 - 16#1FFF Communication profile zone

16#2000 - 16#5FFF Altivar-specific profile zone

16#6000 - 16#9FFF Standardized device profile zone (DSP402)

16#A000 - 16#FFFF Reserved

56 1755865 11/2010

Object dictionary

Communication profile zone objectsAccess: "R" designates an object that supports read access only via the SDO service, whereas "R/W" designates an object that supportsboth read and write access. Some "R/W" objects only support write access in certain states of the NMT CANopen chart.

Index Sub-index

Access Type Default value Description

16#1000 16#00 R unsigned32 16#00010192

Type of device:Bits 24-31 not used (0)Bits 16-23 = Type of device (1)Bits 00-15 = Device profile number (402)

16#1001 16#00 R unsigned8 16#00 Error register: Error (bit 0 = 1) or no error (bit 0 = 0)

16#1003

16#00 R unsigned8 16#01 Number of errors: Only one possible error (1), located in object16#1003/01

16#01 R unsigned32 16#00000000Standard error field:Bits 16-31 = Additional information (always 0)Bits 00-15 = Error code parameter (Errd)

16#1005 16#00 R/W unsigned32 16#00000080 COB-ID entry for SYNC message

16#1008 16#00 R string ATV71 Device name: The SDO service segmented transfer is used to read this object.

16#100B 16#00 R unsigned32 Node-ID: This object receives the value of the CANopen address configured on the Altivar.

16#100C 16#00 R/W unsigned16 16#0000

Guard Time: By default, the Node Guarding protocol is deactivated (0); the unit for this object is 1 ms.If you use this protocol (Guard Time > 0), make sure that the Heartbeat protocol is deactivated on the Altivar (Producer Heartbeat Time = 0).

16#100D 16#00 R/W unsigned8 16#00Life Time Factor: Multiplier coefficient applied to the Guard Time to obtain the Life Time. The value 0 deactivates the Node Guarding service in respect of the drive.

16#100E 16#00 R unsigned32 16#00000700+Node-ID

Node Guarding identifier: COB-ID entry used for the Node Guarding protocol and managed by the configurator (SyCon)

16#100F 16#00 R unsigned32 16#00000001 Number of SDOs supported

16#1014 16#00 R unsigned32 16#00000080+Node-ID

COB-ID entry for emergency message (EMCY)

16#1016

16#00 R unsigned8 16#01 Consumer Heartbeat Time: Number of objects

16#01 R/W unsigned32 16#00000000

Consumer Heartbeat Time:Bits 24-31 not used (0)Bits 16-23 = Node-ID of Heartbeat ProducerBits 00-15 = Max. duration of Consumer Heartbeat (unit = 1 ms)Note: A single Heartbeat Producer can be configured here. By default, no producers are monitored (value = 0).

16#1017 16#00 R/W unsigned16 16#0000

Producer Heartbeat Time: By default, the Altivar does not produce Heartbeat messages; the unit of this object is 1 ms.If you use this protocol (Producer Heartbeat Time > 0), make sure that the Node Guarding protocol is deactivated on the Altivar (Guard Time = 0).

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Object dictionary

Index Sub-index Access Type Default value Description

16#1018

16#00 R unsigned8 16#03 ID object: Number of objects

16#01 R unsigned32 16#0200005A ID object: Supplier IDThis value is manufacturer-specific.

16#02 R unsigned32 71 ID object: Product identification code

16#03 R unsigned32Example: 16#00010002for "v1.2"

ID object: Product versionBits 16-31 = Primary version IDBits 00-15 = Secondary version ID

16#1400

16#00 R unsigned8 16#02 Receive PDO1: Number of objects

16#01 R/W unsigned32 16#00000200+Node-ID

Receive PDO1: COB-ID entryOnly bit 31 can be accessed in write mode: PDO activated (0) orPDO disabled (1).

16#02 R/W unsigned8 16#FF Receive PDO1: Transmission method"asynchronous" (254 or 255), "cyclic synchronous" (1-240).

16#1401



Receive PDO2: COB-ID entryBit 31 can be accessed in write mode: PDO disabled (1) or PDO active (0).Bits 0-10 can be accessed in write mode to enable slave-to-slave communication.

16#02 R/W unsigned8 16#FF Receive PDO2: Transmission speed"asynchronous" (254 or 255), "cyclic synchronous" (1-240).

16#1402



Receive PDO3: COB-ID entryBit 31 can be accessed in write mode: PDO disabled (1) or PDO active (0).Bits 0-10 can be accessed in write mode to enable slave-to-slave communication.

16#02 R/W unsigned8 16#FF Receive PDO3: Transmission speed"asynchronous" (254 or 255), "cyclic synchronous" (1-240).

16#1600

16#00 R/W unsigned8 16#02Receive PDO1 assignment: Number of objects assignedTwo objects are assigned by default in receive PDO1, although between 0 and 4 objects can be assigned.

16#01 R/W unsigned32 16#60400010 Receive PDO1 assignment: 1st object assignedControl word "CMD" (16#6040/00)

16#02 R/W unsigned32 16#60420010 Receive PDO1 assignment: 2nd object assignedSpeed target "LFRD" (16#6042/00)

16#03 R/W unsigned32 16#00000000 Receive PDO1 assignment: 3rd object assignedNo 3rd object assigned

16#04 R/W unsigned32 16#00000000 Receive PDO1 assignment: 4th object assignedNo 4th object assigned

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Object dictionary


16#1601

16#00 R/W unsigned8 16#00Receive PDO2 assignment: Number of objects assignedNo objects are assigned by default in receive PDO2, although between 0 and 4 objects can be assigned.

16#01 R/W unsigned32 16#00000000 Receive PDO2 assignment: 1st object assignedNo 1st object assigned

16#02 R/W unsigned32 16#00000000 Receive PDO2 assignment: 2nd object assignedNo 2nd object assigned

16#03 R/W unsigned32 16#00000000 Receive PDO2 assignment: 3rd object assignedNo 3rd object assigned

16#04 R/W unsigned32 16#00000000 Receive PDO2 assignment: 4th object assignedNo 4th object assigned

16#1602

16#00 R/W unsigned8 16#04Receive PDO3 assignment: Number of objects assigned4 objects are assigned in receive PDO3 by default, although this number can be reduced to 0.

16#01 R unsigned32 16#20640210 Receive PDO3 assignment: 1st object assignedInput word RP31 on the "Controller Inside" card

16#02 R unsigned32 16#20640310 Receive PDO3 assignment: 2nd object assignedInput word RP32 on the "Controller Inside" card

16#03 R unsigned32 16#20640410 Receive PDO3 assignment: 3rd object assignedInput word RP33 on the "Controller Inside" card

16#04 R unsigned32 16#20640510 Receive PDO3 assignment: 4th object assignedInput word RP34 on the "Controller Inside" card

16#1800

16#00 R unsigned8 16#05 Transmit PDO1: Number of objects


Transmit PDO1: COB-ID entryOnly bit 31 can be accessed in write mode: PDO active (0) or PDO disabled (1)

16#02 R/W unsigned8 16#FF

Transmit PDO1: Transmission speedChoice of 3 modes for this PDO: "asynchronous" (254 or 255), "cyclic synchronous" (1-240) and "acyclic synchronous" (0). The values 252 and 253 (modes on receipt of RTR frames) are not supported by the Altivar.

16#03 R/W unsigned16 300Transmit PDO1: Inhibit TimeMinimum time between two transmissions; unit = 100 µs; minimum value = 100 (10 ms).

16#05 R/W unsigned16 1000

Transmit PDO1: Event TimerIn "asynchronous" mode, this object defines a minimum transmission frequency for this PDO; unit = 1 ms; minimum value = 10 (10 ms). The duration of this event timer must be greater than that of the inhibit timer (subindex: 16#03). Asynchronous PDO transmission will therefore take place when the data to be transmitted change, with these two periods as temporal limits.

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Object dictionary


16#1801



Transmit PDO2: COB-ID entryBit 31 can be accessed in write mode: PDO disabled (1) or PDO active (0).Bits 0-10 can be accessed in write mode to enable slave-to-slave communication.





Transmit PDO2: Event TimerIn "asynchronous" mode, this object defines a minimum transmission frequency for this PDO; unit = 1 ms; minimum value = 10 (10 ms).The duration of this event timer must be greater than that of the inhibit timer(subindex: 16#03). Asynchronous PDO transmission will therefore takeplace when the data to be transmitted change, with these two periods astemporal limits.

16#1802



Transmit PDO3: COB-ID entryBit 31 can be accessed in write mode: PDO disabled (1) or PDO active (0).Bits 0-10 can be accessed in write mode to enable slave-to-slave communication.





Transmit PDO3: Event TimerIn "asynchronous" mode, this object defines a minimum transmission frequency for this PDO; unit = 1 ms; minimum value = 10 (10 ms).The duration of this event timer must be greater than that of the inhibit timer(subindex: 16#03). Asynchronous PDO transmission will therefore takeplace when the data to be transmitted change, with these two periods astemporal limits.

16#1A00

16#00 R/W unsigned8 16#02Transmit PDO1 assignment: Number of objects assignedTwo objects are assigned by default in transmit PDO1, although between 0 and 4 objects can be assigned.

16#01 R/W unsigned32 16#60410010 Transmit PDO1 assignment: 1st object assignedDefault status word "ETA" (16#6041/00)

16#02 R/W unsigned32 16#60440010 Transmit PDO1 assignment: 2nd object assignedDefault speed output "RFRD" (16#6044/00)

16#03 R/W unsigned32 16#00000000 Transmit PDO1 assignment: 3rd object assignedNo 3rd object assigned by default

16#04 R/W unsigned32 16#00000000 Transmit PDO1 assignment: 4th object assignedNo 4th object assigned by default

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Object dictionary


16#1A01

16#00 R/W unsigned8 16#00Transmit PDO2 assignment: Number of objects assignedNo objects are assigned by default in transmit PDO2, although between 0 and 4 objects can be assigned.

16#01 R/W unsigned32 16#00000000 Transmit PDO2 assignment: 1st object assignedNo 1st object assigned by default

16#02 R/W unsigned32 16#00000000 Transmit PDO2 assignment: 2nd object assignedNo 2nd object assigned by default

16#03 R/W unsigned32 16#00000000 Transmit PDO2 assignment: 3rd object assignedNo 3rd object assigned by default

16#04 R/W unsigned32 16#00000000 Transmit PDO2 assignment: 4th object assignedNo 4th object assigned by default

16#1A02

16#00 R unsigned8 16#04Transmit PDO3 assignment: Number of objects assigned4 objects are assigned in transmit PDO3 by default, although this number can be reduced to 0.

16#01 R unsigned32 16#20640C10 Transmit PDO3 assignment: 1st object assignedOutput word TP31 on the "Controller Inside" programmable card

16#02 R unsigned32 16#20640D10 Transmit PDO3 assignment: 2nd object assignedOutput word TP32 on the "Controller Inside" programmable card

16#03 R unsigned32 16#20640E10 Transmit PDO3 assignment: 3rd object assignedOutput word TP33 on the "Controller Inside" programmable card

16#04 R unsigned32 16#20640F10 Transmit PDO3 assignment: 4th object assignedOutput word TP34 on the "Controller Inside" programmable card

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ATV61_71_canopen_EN_1755865_04

Altivar 61-71 CANopen

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